def run(self):
global isNextPathNeeded
global nextPathSema
global newLevelReached
while 1:
# if isNextPathNeeded:
# print self.threadName, "blocking"
# nextPathSema.acquire()
locationTrackerLock.acquire()
if newLevelReached and not self.isDone['nOffset']:
print "Recalibrating compass!!!"
self.calibrateNOffset()
self.updateBaroData()
self.updateGyroData()
self.updateAccData()
elif newLevelReached and self.isDone['nOffset']:
print "\n\n Compass recalibrated!! \n\n"
locationTracker.compass.prevHeadingInRad = self.calibrator.NOffsetAngle
locationTracker.updateCurrHeading(45.0 / 180.0 * math.pi)
newLevelReached = False
else:
self.updateAccData()
self.updateMagData()
self.updateBaroData()
self.updateGyroData()
locationTrackerLock.release()
def run(self):
# magXrange = (-4328, 5605)
# magYRange = (-5096, 5002)
# magZRange = (-4618, 4655)
# self.calibrator.inputManualRange(magZRange, magYRange, magXrange)
userInputLock.acquire()
global keypad
global UISpeaker
global data, data_single
validInput = False
while not validInput:
# userInput = raw_input("Press enter to calibrate? y/n ")
UISpeaker.speak(str("To calibrate gyroscope, press start."))
userInput = keypad.get_binary_response()
print userInput
if not userInput:
validInput = True
for i in range(0, 3):
num = 3 - i
print num
UISpeaker.speak(str(num))
time.sleep(1)
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
print len(data[1])
while not self.isDone['gyro']:
self.calibrateGyro()
userInputLock.acquire()
# Update Gyro offset
self.calibrationTools.initGyroOffset(self.calibrator.initGXOffset,
self.calibrator.initGYOffset,
self.calibrator.initGZOffset)
temp = 'Gyro calibrated' + \
str(self.calibrator.initGXOffset) + ' ' + \
str(self.calibrator.initGYOffset) + ' ' + \
str(self.calibrator.initGZOffset)
print temp
UISpeaker.speak(temp)
validInput = False
while not validInput:
# userInput = raw_input("Press enter to calibrate? y/n ")
UISpeaker.speak(str("To begin compass calibration, press start. To skip calibration, press back."))
userInput = keypad.get_binary_response()
print userInput
# Determine if normal calibration
UISpeaker.speak(str("Is this normal calibration."))
self.normalCalib = not keypad.get_binary_response()
if not userInput:
validInput = True
else:
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
return
for i in range(0, 3):
num = 3 - i
print num
UISpeaker.speak(str(num))
time.sleep(1)
# print 'Calibrating'
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
userInputLock.release()
print len(data[1])
while not self.isDone['tilt']:
self.calibrateTilt()
# Update pitch and roll
locationTracker.pedometer.calibrate(self.calibrator.pitch, self.calibrator.roll)
locationTracker.gyroCompass.calibrate(self.calibrator.pitch, self.calibrator.roll)
while not self.isDone['nOffset']:
self.calibrateNOffset()
locationTracker.compass.prevHeadingInRad = self.calibrator.NOffsetAngle
if not self.normalCalib:
locationTracker.updateCurrHeading(0.0 - self.ABNORMAL_NORTH_OFFSET)
userInputLock.acquire()
temp = 'Your are ' + str(int(self.calibrator.getNOffsetAngle() / (2 * math.pi) * 360)) + ' from N. To continue, press start'
print temp
UISpeaker.speak(temp)
while keypad.get_binary_response():
pass
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
print len(data[1])
def run(self):
# magXrange = (-4328, 5605)
# magYRange = (-5096, 5002)
# magZRange = (-4618, 4655)
# self.calibrator.inputManualRange(magZRange, magYRange, magXrange)
userInputLock.acquire()
global data, data_single
validInput = False
while not validInput:
# userInput = raw_input("Press enter to calibrate? y/n ")
# UISpeaker.speak(str("To calibrate gyroscope, press start."))
userInput = raw_input("To calibrate gyroscope, press y.")
if userInput == "y":
validInput = True
for i in range(0, 3):
num = 3 - i
print num
time.sleep(1)
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
print len(data[1])
while not self.isDone["gyro"]:
self.calibrateGyro()
userInputLock.acquire()
# Update Gyro offset
self.calibrationTools.initGyroOffset(
self.calibrator.initGXOffset, self.calibrator.initGYOffset, self.calibrator.initGZOffset
)
temp = (
"Gyro calibrated"
+ str(self.calibrator.initGXOffset)
+ " "
+ str(self.calibrator.initGYOffset)
+ " "
+ str(self.calibrator.initGZOffset)
)
print temp
validInput = False
while not validInput:
# userInput = raw_input("Press enter to calibrate? y/n ")
userInput = raw_input("To begin compass calibration, press y")
response = raw_input("Is this normal calibration. Press y")
if response == "y":
self.normalCalib = True
else:
self.normalCalib = False
if userInput == "y":
validInput = True
elif userInput == "n":
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
return
for i in range(0, 3):
num = 3 - i
print num
# UISpeaker.speak(str(num))
time.sleep(1)
# print 'Calibrating'
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
userInputLock.release()
print len(data[1])
while not self.isDone["tilt"]:
self.calibrateTilt()
# Update pitch and roll
locationTracker.pedometer.calibrate(self.calibrator.pitch, self.calibrator.roll)
locationTracker.gyroCompass.calibrate(self.calibrator.pitch, self.calibrator.roll)
while not self.isDone["nOffset"]:
self.calibrateNOffset()
locationTracker.compass.prevHeadingInRad = self.calibrator.NOffsetAngle
if not self.normalCalib:
locationTracker.updateCurrHeading(0.0 - self.ABNORMAL_NORTH_OFFSET)
userInputLock.acquire()
temp = (
"Your are "
+ str(int(self.calibrator.getNOffsetAngle() / (2 * math.pi) * 360))
+ " from N. To continue, press start"
)
raw_input(temp)
dataFeeder.serialPort.flushInput()
dataFeeder.serialPort.flushOutput()
data = [deque() for x in range(NUM_QUEUED_ID)]
data_single = [0 for x in range(NUM_SINGLE_ID)]
data.extend(data_single)
userInputLock.release()
print len(data[1])
